git commit -m "first commit for v2"

Devices/Packages/ros_kinematics/config/ros_steer_drive.yaml

@@ -0,0 +1,29 @@
+commandTopic: $(arg prefix)cmd_vel
+odometryTopic: odom
+odometryFrame: $(arg prefix)odom
+odometryEncTopic: odom_enc
+odometryEncChildFrame: $(arg prefix)odom_enc
+robotBaseFrame: $(arg prefix)base_link
+steerChildFrame: $(arg prefix)steer_link
+subscribe_queue_size: 1
+max_update_rate: 60
+odomEncSteeringAngleOffset: 0.0
+steering_fix_wheel_distance_x: 0.0
+steering_fix_wheel_distance_y: 0.0
+wheelAcceleration: 0.0
+use_abs_encoder: false
+
+steer_drive: tzbot_motor_wheel::SteerMotor
+SteerMotor:
+  ratio: 171
+  node_id: node1
+  max_publish_rate: 100
+  subscribe_queue_size: 1
+
+traction_drive: tzbot_motor_wheel::TractionMotor
+TractionMotor:
+  wheel_diameter: 0.210
+  ratio: 24.68
+  node_id: node2
+  max_publish_rate: 100
+  subscribe_queue_size: 1